Pilz PMCprimo 16+.00/0/1/6/4 - Manual (Page 37)

9 Segment Types
User Manual for PMotion Page 37
9.5 Segment Type "Modified Trapezoidal
"
For this segment type the magnitude of the acceleration profile
is set by the master position increment and the slave position
change across the segment. This type of segment is useful for
heavy, stiff systems running at low or medium speeds.
Parameters:
• Segment type $MFnn=5
• Segment start constraints: [P matched], V matched ($MWnn=22000000) or not specified
($MWnn=20000000), [A & J not defined]
• Segment end constraints: [P specified, V, A & J not defined]
• Master end position $MMnn= sets end segment master position
• Slave end position $MSnn= sets end segment slave position
• Percentage of segment used: Start at $MXnn= & End at $MYnn= (see
chapter 10.1 page 49)